cmake_minimum_required(VERSION 2.4.6)

find_package(Eigen REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})

find_package(PCL)

if (PCL_FOUND) 
    message(" * PCL ${PCL_VERSION} was now found")
    include_directories(${PCL_INCLUDE_DIRS})
else(PCL_FOUND)
    message(" * PCL was not now found")
endif(PCL_FOUND)

SET(SOURCES
	../../src/calibration.cpp
	../../src/camera.cpp
	../../src/intrinsics.cpp
	../../src/extrinsics.cpp
	../../src/features.cpp
	../../src/improc.cpp
	../../src/ros_resources.cpp
	../../src/tools.cpp
	../../src/tracks.cpp
	../../src/keyframes.cpp
	../../src/geometry.cpp
	../../src/reconstruction.cpp
	../../src/sba.cpp
)

rosbuild_add_executable(videoslam 
	./code/videoslam.cpp
	${SOURCES}
)
INCLUDE_DIRECTORIES(../../cfg/cpp/thermalvis/ ../../msg_gen/cpp/include/thermalvis/ ../../include/)
target_link_libraries(videoslam
	${OpenCV_LIBRARIES}
	${PCL_COMMON_LIBRARIES} 
	${PCL_IO_LIBRARIES}
)
